A seek operation of a first actuator in a multi-actuator drive is modified, so that one or more disturbance-generating portions of the seek operation do not adversely affect operation of a second actuator in the drive. Radial motion of the aggressor actuator is controlled by limiting a slew rate of the first actuator during one or more portions of the seek operation to be less than or equal to a threshold value. Because slew rate of the first actuator is the rate of change of radial acceleration of the aggressor actuator with respect to time, limiting the slew rate of the first actuator prevents or reduces mechanical disturbances caused by jerk associated with motion of the first actuator.
Legal claims defining the scope of protection, as filed with the USPTO.
2. The method of claim 1, wherein setting the parameter to the first target radial velocity causes the head to accelerate by a first acceleration value, and setting the parameter to the second target radial velocity causes the head to accelerate by a second acceleration value that is less than the first acceleration value.
6. The method of claim 5, wherein the first timing and the second timing are included in a beginning portion of the coasting phase of the seek operation.
9. The method of claim 8, further comprising determining the slew rate threshold value based on a current or planned operation for the second actuator.
11. The disk drive of claim 10, wherein setting the parameter to the first target radial velocity causes the head to accelerate by a first acceleration value, and setting the parameter to the second target radial velocity causes the head to accelerate by a second acceleration value that is less than the first acceleration value.
12. The disk drive of claim 11, wherein the controller is further configured to, after initiating the seek operation and prior to the first timing, control the head to accelerate by a constant acceleration value that is greater than the first acceleration value.
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August 27, 2021
March 28, 2023
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